KR102071017B1 - Move distance measuring device and method for precise distance measurement of sewer pipe - Google Patents

Abstract

The present invention relates to a moving distance measurement apparatus and a method for measuring a precise distance of a sewage pipeline, which accurately grasps a distance from the sewage pipeline to a crack point or a specific point and comprises: a rear vehicle unit connected to a control unit and a cable to receive power, receiving a control signal of the control unit; a front vehicle unit acquiring information inside a water and sewage pipeline, and traveling the water and sewage pipeline to move to an investigation point; a cable adjustment unit connecting the front vehicle unit and the rear vehicle unit; and a distance measurement unit measuring a distance between the rear vehicle unit and the moved front vehicle unit. The cable adjustment unit adjusts the height up and down so as not to interfere with measurement of the distance measurement unit.

Description

MOVE DISTANCE MEASURING DEVICE AND METHOD FOR PRECISE DISTANCE MEASUREMENT OF SEWER PIPE}

The present invention relates to a moving distance measuring apparatus and method for precise distance measurement of the sewage pipe to accurately grasp the distance from the sewage pipe to the crack or specific point.

Water pipes, such as water and sewage pipes, gas pipes, etc. are made of a metal or cement material may age and corrode or crack over time. Therefore, it is necessary to periodically inspect the condition inside the pipeline and to maintain it if there is an abnormality.

In general, in the case of sewage pipes with a diameter of 800 mm or more, the operator directly inputs the water and determines whether there is an abnormality in the sewage pipe.However, in the case of small sewage pipes, the worker cannot input, so photographed by a CCTV mounted on a self-propelled vehicle driving the sewage pipe. In addition, the information displayed on the monitor is used to find and repair the leak gap or crack in the sewer pipe.

 In order to repair the cracks in the sewer pipes, it is very important to locate the cracks.

Conventionally, as seen in the sewer pipe exploration apparatus of FIG. 1, the distance to the point of cracking was mainly calculated by calculating the length of the cable.

That is, the cable 20 is connected to the traveling body 10 so that the cable 20 is automatically released from the cable pulley 30 installed on the ground when the traveling body moves. At this time, when a section in which a crack occurs in the pipe P appears, the distance is calculated by counting the length of the cable 20 unwound to that point.

In this cable pulley method, the precision of the moving distance of the moving object decreases due to the cable tension, and the cable is not pulled out in a straight line in the pipeline. It must be generated.

In order to solve this problem, a sensor is mounted on the wheel of the vehicle to measure and display the distance by the number of revolutions of the wheel. However, an error occurs frequently in the measurement distance due to the sliding or turning of the wheel according to an obstacle or an inner state of the pipeline.

As described above, although the moving distance of the traveling body is calculated and displayed using the cable pulley and the number of revolutions of the wheel, an error may occur depending on various variables in the field, and thus unnecessary costs and time are added when repairing the pipeline. A loss occurred.

In addition, the actual pipe is connected to the curvature on the basis of the direction of the road surface, the joint connection state is changed to the curved pipe by the driving of a substantial portion of the road connected to the straight line. This causes an error between the driving distance and the straight line distance.

When excavation is applied on the ground, if the error is large, excavation should be excavated over a wide range. In general, an error range of 5 to 7 meters occurs for a 100-meter pipeline. In view of these errors, excavation repair is widely applied, but unnecessary construction cost is wasted when the defect point is narrow.

In addition, the technique of detecting the moving distance of the existing irradiation equipment is measured only as the distance to the straight line irrespective of the shape of the pipeline, so there is no consideration for the curved portion.

Korean Patent Publication No. 1693734 Korean Registered Patent Publication No. 1298227

The present invention is to provide a moving distance measuring device and method for measuring the distance of the sewage pipe to increase the accuracy by measuring the pipe line consisting of a straight line and curve form for each section.

In addition, the present invention maintains the tensile force of the cable provided between the front and rear vehicle portion to a predetermined reference to measure the travel distance for measuring the precise distance to the sewer pipe to prevent the error due to the elasticity and the tensile force of the cable It is to provide an apparatus and method.

In addition, the present invention, when measuring the distance between the front vehicle and the rear vehicle, the movement distance measurement for the precise distance measurement of the sewer pipe to adjust the position of the cable which may be an obstacle in between, so as not to interfere with the distance measurement It is to provide an apparatus and method.

Technical problems to be achieved by the present invention are not limited to the above-mentioned technical problems, and other technical problems not mentioned above will be clearly understood by those skilled in the art from the following description. Could be.

Moving distance measuring device for precision distance measurement of the sewage pipe of the present invention for achieving the above object, is connected to the control unit for calculating the input data located on the ground while running inside the water supply and sewer pipe sewage pipe for precision distance measurement A distance measuring device comprising: a rear vehicle unit connected to the control unit via a cable to receive power, and receive a control signal of the control unit; An all-vehicle unit that acquires the information inside the water and sewage pipe, and moves the water and sewage pipe to the irradiation position; A cable adjusting unit connecting the front vehicle unit and the rear vehicle unit; And a distance measuring unit measuring a distance between the rear vehicle unit and the moved front vehicle unit, wherein the cable adjusting unit adjusts the height up and down so as not to obstruct the measurement of the distance measuring unit.

In addition, the cable control unit is provided at the rear end of the rear vehicle portion automatic reel unit for winding and unwinding the cable; And an auxiliary reel unit provided at a front end of the electric vehicle unit to detect a tensile force of the cable and to maintain a constant tensile force.

In addition, the auxiliary reel portion is characterized in that it further comprises a pressure sensor for detecting the tensile force of the cable.

In addition, the auxiliary reel portion is characterized in that for adjusting the tensile force by forward or reverse rotation, forward or backward in the horizontal direction.

Moving distance measuring method for measuring the precise distance of the sewer pipe of the present invention for achieving the above object (a) positioning in the order of the front vehicle and the rear vehicle; (b) stopping the rear vehicle unit and moving the front vehicle unit while the cable adjusting unit is released; (c) when the vehicle stops after moving, lowering the cable control unit; (d) measuring a distance from a rear vehicle unit to a distance measurement unit of the front vehicle unit; (e) transferring the measured distance information to a control unit; And (f) moving the rear vehicle unit to a position of the front vehicle unit while winding a cable adjustment unit cable.

Specifically, the step (b) is characterized in that for controlling the auxiliary reel portion of the cable control unit to maintain the predetermined tensile force by detecting the tensile force of the cable released while moving the vehicle.

In addition, the front vehicle portion of step (b) is characterized in that it moves only to the point where the form facing the rear vehicle portion is maintained.

In addition, the step (f) is characterized in that for controlling the auxiliary reel portion of the cable control unit to maintain the predetermined tensile force by detecting the tensile force of the cable when the rear vehicle portion is moved.

In addition, after the step (d) or (e), characterized in that it further comprises the step of returning the lowered cable adjuster in place.

As explained above,

The present invention has the effect of preventing the error caused by the obstacle between the measurement of the distance between the front vehicle and the rear vehicle using the distance measuring unit.

In addition, the present invention has the effect of accurately measuring the movement distance by minimizing the error even in the pipelines formed in a straight line and curve form.

1 is a schematic configuration diagram of a detailed survey system for a conventional water and sewage pipe interior.
Figure 2 is a top view showing a moving distance measuring device for precise distance measurement of the sewer pipe in accordance with an embodiment of the present invention.
3 is a view showing a state before the movement of the cable adjuster of the moving distance measuring device for measuring the precise distance of the sewer pipe according to an embodiment of the present invention.
4 is a view showing a state after the movement of the cable adjusting unit of the moving distance measuring device for the precise distance measurement of the sewer pipe according to an embodiment of the present invention.
5 is a flowchart illustrating a moving distance measuring method for precise distance measurement of a sewer pipe according to an exemplary embodiment of the present invention.
6A to 6G are sequential schematic diagrams showing a moving distance measuring method for precise distance measurement of a sewer pipe according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In addition, the size or shape of the components shown in the drawings may be exaggerated for clarity and convenience of description, terms specifically defined in consideration of the configuration and operation of the present invention will vary depending on the intention or custom of the user or operator The definitions of these terms should be made based on the contents throughout the specification.

In addition, the gist of the present invention is to measure the precise distance of the sewer pipe, and the description of the technique for repairing the crack point of the sewer pipe in the sewer pipe or grasping the crack point of the sewer pipe will be omitted.

2 to 4 is a view showing a moving distance measuring device for measuring the precise distance of the sewage pipe according to an embodiment of the present invention, the moving distance measuring device as shown in Figure 2, largely the rear vehicle unit 100, Electric vehicle unit 200, the cable control unit 300, and the distance measuring unit (110, 210).

As shown in FIG. 2, the rear vehicle unit 100 is connected to a control unit 10 and a cable 11 that calculate data inputted on the ground and receive power, and control of the control unit 10. Receives a signal, and transmits the information received from the vehicle unit 200 to the control unit 10 to provide the information so that the control unit 10 can calculate.

The vehicle 200 acquires the information inside the water and sewage pipe, and travels to the irradiation position by traveling the water and sewage pipe. The vehicle unit 200 may grasp the direction.

It may be provided with a direction sensor or an image input unit for inputting an image to determine the direction. Through this, the vehicle unit 200 may determine whether the current position is a straight section or a curved section.

The cable adjusting unit 300 is configured to connect the front vehicle unit 200 and the rear vehicle unit 100, and includes an automatic reel unit 310 and an auxiliary reel unit 320.

The auto reel unit 310 is provided in the rear vehicle unit 100 and driven by a motor to wind and unwind the cable 330. The auto reel unit 310 moves the cable 330 when the front vehicle unit 200 moves. When the forward vehicle is released and the front vehicle unit 200 stops, and the rear vehicle unit 100 moves to the position of the front vehicle unit 200 by forward rotation, the reverse rotation rewinds the cable 330.

The auxiliary reel unit 320 includes a pressure sensor provided in the vehicle vehicle unit 200 to detect the tensile force of the cable 330 connected to the automatic reel unit 310, and the tensile force detected by the pressure sensor exceeds a preset tensile force. If less, it is adjusted to maintain a constant tensile force.

More preferably, the auxiliary reel unit 320 may be connected to a pressure sensor (not shown) in the form of an automobile show bar to detect the tensile force of the cable 330.

The auxiliary reel unit 320 is driven by a motor. Since the motor drive is a known technology, a detailed description thereof will be omitted.

The cable adjusting unit 300 may move upward and downward to adjust the height, or move forward and backward to adjust the tensile force of the cable 330.

More preferably, as shown in FIGS. 3 and 4, the entire cable adjustment unit 300 may adjust the height upward and downward, and the auxiliary reel unit 320 of the cable adjustment 300 may include an electric vehicle unit ( The tensile force of the cable 330 that is wound on the auxiliary reel unit 320 by moving forward or backward in the guide 220 of the 200 may be adjusted by forward or reverse rotation.

When measuring the distance in the embodiment of the present invention, rather than counting the length of the cable 330 is released to calculate the distance, the precise distance by maintaining the tensile force of the cable 330 by summing the distance between two precise vehicle parts Can be identified.

In this case, the reason why the cable 330 between the front vehicle unit 200 and the rear vehicle unit 100 is to be maintained as a reference tensile force is that the front vehicle unit 200 and the rear vehicle unit 100 may be located at the center of the pipeline. To do so.

Here, the reference tensile force is preferably such that the cable 330 connecting the automatic reel unit 310 and the auxiliary reel unit 320 does not squeeze downward and can be kept taut.

If the cable 330 is less than the reference tensile force, that is, if the cable 330 is not taut, the ancestor equipment is not located in the middle of the conduit, it is more likely to be located in the left or right, causing a position error, and the cable 330 is the reference tensile force If it exceeds, because of the contaminants, such as sludge, the bottom of the pipeline is slippery, because the front vehicle unit 200 or the rear vehicle unit 100 may slip.

The distance measuring parts 110 and 210 are provided at the upper end of the front vehicle part 200 and the upper part of the rear vehicle part, and receive signals from one side from the other side, and thus, between the two vehicle parts 200 and the rear vehicle part 100. Measure the distance.

Alternatively, the signal transmitted from one side may be reflected from the other side to measure the distance between the two vehicle parts 200 and the rear vehicle part 100.

At this time, the distance measuring unit (110, 210) it is preferable to maintain a state in which the front vehicle unit 200 and the rear vehicle unit (100) facing each other.

5 and 6 illustrate a moving distance measuring method for precise distance measurement of a sewer pipe according to an embodiment of the present invention. First, the front vehicle unit 200 and the rear vehicle unit 100 in the pipeline entry direction as shown in FIG. 6A. ) In order (S110).

In this case, the rear vehicle unit 100 is connected to the control unit 10 and the cable 11 to receive power and signals from the control unit 10, and to transfer power and signals to the vehicle unit 200. It also plays a role, and transmits the information received from the vehicle unit 200 to the control unit 10.

At this time, the cable 11 is for the wired connection with the control unit 10 and the rear vehicle unit 100 and the tensile force does not matter.

Subsequently, as illustrated in FIG. 6B, the rear vehicle unit 100 stops, and the cable vehicle 330 of the cable control unit 300 is released, and the vehicle vehicle unit 200 moves in the entry direction (S120).

At this time, while controlling the auxiliary reel unit 320 of the cable control unit 300 to maintain a predetermined tensile force by detecting the tensile force of the cable 330 released while the vehicle 200 moves, the auxiliary reel unit 320 is rotated The direction is controlled, or the auxiliary reel unit 320 is moved back and forth within the section of the guide 220 where the auxiliary reel unit 320 is located.

In this way, by controlling the tension force, it is possible to move to the center of the tube without biased to either side of the tube while the vehicle portion 200 moves.

In addition, the front vehicle unit 200 moves only to the point where the form facing the rear vehicle unit 100 is maintained. That is, the moving distance of the vehicle 200 is preferably moved to the point of deformation of the cable length or the straight section 1 and the curved section (2).

Here, the deformation point with the straight section 1 and the curved section 2 can determine the deformation point by the determination by the direction sensor or the image.

Subsequently, as illustrated in FIG. 6C, when the vehicle vehicle unit 200 stops after moving, the cable adjusting unit 300 is lowered (S130).

This is to prevent the cable adjusting unit 300 from becoming an obstacle between the distance measuring units 110 and 210 measured in a later step when the distance between the front vehicle unit 200 and the rear vehicle unit 100 is measured. In order to prevent this, the cable control unit 300 does not become an obstacle in the straight section 1, but the cable control unit 300 may become an obstacle in the measurement in the curved section 2.

6D, the distance measurement unit 210 of the front vehicle unit 200 measures the distance to the rear vehicle unit 100 (S140). The distance measuring units 110 and 210 may use laser or ultrasonic waves. In this case, the upper end of the vehicle vehicle unit 200 may include a light emitting or transmitting unit of the distance measuring unit 110, and the distance of the rear vehicle unit 100 may include a distance. The light receiving or receiving unit of the measuring unit 210 is provided.

When the light emitting or transmitting unit of the front vehicle unit 200 generates a laser or ultrasonic wave, the light receiving or receiving unit of the rear vehicle unit 100 may be received or received to measure the distance. The light receiving or receiving unit of the rear vehicle unit 100 may serve as a reflector.

In this case, the reason why the distance measuring units 110 and 210 are provided on the upper ends of the front vehicle unit 200 and the rear vehicle unit 100 is to allow the distance to be measured without disturbing other obstacles.

Then, the measured distance information is transmitted to the control unit 10 (S150). At this time, the information measured by the distance measuring unit (110, 210) is transmitted to the control unit 10 through the rear vehicle unit (100).

And, after measuring the distance between the front vehicle unit 200 and the rear vehicle unit 100, or after transferring the measured distance information to the control unit 10, as shown in Figure 6e, the cable was lowered The adjustment unit 300 returns to its original position.

The cable control unit 300 is lowered to prevent distance measurement convenience and interference, and control the cable when the front vehicle unit 200 and the rear vehicle unit 100 move while the cable control unit 300 is lowered. Since the unit 300 may be a cause of disturbance, it is preferable to return the cable adjusting unit 300 to its original position after the distance measurement and before the movement of the vehicle vehicle 200.

6F, the rear vehicle unit 100 moves to the position of the front vehicle unit 200 while winding the cable 330 of the cable control unit 300 (S160). In this case, the vehicle 200 detects the tensile force of the cable 330 and controls the auxiliary reel unit 320 of the cable adjusting unit 300 to maintain a predetermined tensile force.

This is because, due to the slippery environmental factors such as sludge, such as the bottom of the pipeline, when the rear vehicle unit 100 moves while winding the cable 330 to the front vehicle unit 200, the auxiliary reel unit 320 if more than the reference tensile force The reverse rotation to release the cable 330 or the auxiliary reel 320 in the guide 220 formed in the vehicle unit 200 is moved back and forth to control.

The moving distance measuring method as described above is repeated until the target position is reached, and repeatedly transmits numerical information about the measured distance to the control unit 10 to measure the precise moving distance.

In addition, the rear vehicle unit 100 may transfer the generated compensation distance information to the control unit 10 while moving to the position of the front vehicle unit 200.

Here, the compensation distance information may be a value of about 1 to 2 times the length of the rear vehicle unit 100. Compensation distance information can be transmitted to the control unit 10 at the point where the shape of the tube changes from the straight section 1 to the curved section 2, the point from the curved section 2 to the straight section 1, or at the target point. have. .

Located in the rear vehicle unit 100 and the straight section (1), when the front vehicle unit 200 is located in the curved sphere (2) because the distance measurement is mostly straight, distance measurement through the distance measuring unit (110, 210) It may not be possible.

For this reason, as illustrated in FIG. 6G, the rear vehicle unit 100 is moved to be located at the same point as the front vehicle unit 200 at the point of deformation such as the straight section 1 and the curved section 2. Then, the compensating value as much as the moving distance is transferred to the control unit 10 to move the rear vehicle unit 100 to the same point as the front vehicle unit 200.

The moving distance of the rear vehicle unit 100 may be calculated by the number of revolutions of the wheel of the rear vehicle unit 100 or the number of revolutions of the automatic reel unit 310 wound around the loosened cable 330.

In other words, when moving the entire pipe, that is, the long distance 100, the distance value may be calculated by using the number of revolutions of the wheel or the number of revolutions of the cable 330. However, the length of the rear vehicle 100 may be about twice or more. Short distances, like length, are less likely to cause errors.

That is, the control unit 10 precisely moves by the sum of the values of the distances between the front vehicle unit 200 and the rear vehicle unit 100 and the compensation distance information of the rear vehicle unit 100 measured while reaching the target point. It can be seen.

 Therefore, the present invention has an effect of preventing an error caused by an obstacle between the distance between the front vehicle unit and the rear vehicle unit by using the distance measuring unit.

In addition, the present invention has the effect of accurately measuring the movement distance by minimizing the error even in the pipelines formed in a straight line and curve form.

Although embodiments according to the present invention have been described above, these are merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent embodiments of the present invention are possible therefrom. Therefore, the true technical protection scope of the present invention will be defined by the following claims.

1 ... straight section
2.curve section
10 ... Control Unit
11 ... cable
100.
110, 210 ... Distance measurement unit
200.
220 ... guide
300 ... cable control
310 ... Automatic Reel
320.Secondary reel part
330 cable

Claims (9)

In the sewage pipe distance measuring device for precise distance measurement while traveling inside the water supply and sewage pipe connected to the control unit that calculates the data inputted on the ground,
A rear vehicle unit connected to the control unit via a cable to receive power, and receive a control signal of the control unit;
An all-vehicle unit that acquires the information inside the water and sewage pipe, and moves the water and sewage pipe to the irradiation position;
A cable adjusting unit connecting the front vehicle unit and the rear vehicle unit; And
And a distance measuring unit measuring a distance between the rear vehicle unit and the moved front vehicle unit.
The cable adjusting unit is a moving distance measuring device for precise distance measurement of the sewer pipe, characterized in that for adjusting the height up and down so as not to obstruct the measurement of the distance measuring unit.
The method according to claim 1,
The cable control unit is provided at the rear end of the rear vehicle unit automatic reel unit for winding and unwinding the cable; And
Auxiliary reel unit provided at the front end of the vehicle portion to maintain a constant tensile force by sensing the tensile force of the cable; Moving distance measuring device for measuring the precision distance of the sewer pipe comprising a.
The method according to claim 2,
The auxiliary reel unit further comprises a pressure sensor for detecting the tensile force of the cable movement distance measuring apparatus for measuring the precise distance to the sewer pipe.
The method according to claim 2,
The auxiliary reel unit rotates forward or reverse, or moves forward or backward in the horizontal direction to move the distance measuring device for precise distance measurement of the sewer pipe, characterized in that for adjusting the tension force.
In the sewage pipe distance measuring method for precise distance measurement while driving inside the water supply and sewage pipe connected to the ground control unit,
(a) positioning the vehicle ahead and the rear vehicle in the entry direction;
(b) stopping the rear vehicle unit and moving the front vehicle unit while the cable adjusting unit is released;
(c) lowering the cable control unit when the vehicle stops after moving;
(d) measuring a distance from a rear vehicle unit to a distance measurement unit of the front vehicle unit;
(e) transferring the measured distance information to a control unit; And
(f) moving the rear vehicle unit to a position of the front vehicle unit while winding a cable adjustment unit; moving distance measuring method for measuring the precise distance of the sewer pipe, characterized in that it comprises a;
The method according to claim 5,
Step (b), the moving distance measuring method for measuring the precise distance to the sewer pipe, characterized in that for controlling the auxiliary reel portion of the cable control unit to maintain a predetermined tensile force by detecting the tensile force of the cable unwinding while moving the vehicle.
The method according to claim 5,
The moving distance measuring method for the precise distance measurement of the sewer pipe, characterized in that the front vehicle portion of step (b) moves only to the point that the form facing the rear vehicle portion is maintained.
The method according to claim 5,
In the step (f), when the rear vehicle unit is moved, the front vehicle unit detects the tensile force of the cable and controls the auxiliary reel unit of the cable adjusting unit to maintain a predetermined tensile force. How to measure.
The method according to claim 5,
After the step (d) or (e), further comprising the step of returning the lowered cable adjuster in place, the movement distance measuring method for the precision distance measurement of the sewer pipe.

Images